CN107791094A - Fluid ejection apparatus - Google Patents
Fluid ejection apparatus Download PDFInfo
- Publication number
- CN107791094A CN107791094A CN201710749661.8A CN201710749661A CN107791094A CN 107791094 A CN107791094 A CN 107791094A CN 201710749661 A CN201710749661 A CN 201710749661A CN 107791094 A CN107791094 A CN 107791094A
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- China
- Prior art keywords
- mentioned
- main shaft
- manipulator
- instrument
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/10—Arrangements for cooling or lubricating tools or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/10—Arrangements for cooling or lubricating tools or work
- B23Q11/1076—Arrangements for cooling or lubricating tools or work with a cutting liquid nozzle specially adaptable to different kinds of machining operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
- B05B1/20—Arrangements of several outlets along elongated bodies, e.g. perforated pipes or troughs, e.g. spray booms; Outlet elements therefor
- B05B1/205—Arrangements of several outlets along elongated bodies, e.g. perforated pipes or troughs, e.g. spray booms; Outlet elements therefor characterised by the longitudinal shape of the elongated body
- B05B1/207—Arrangements of several outlets along elongated bodies, e.g. perforated pipes or troughs, e.g. spray booms; Outlet elements therefor characterised by the longitudinal shape of the elongated body the elongated body being a closed loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
- B05B12/1454—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet separate units comprising both a material container and a spray device permanently connected thereto being removably attached to a part of the spray apparatus, e.g. to a robot arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/08—Apparatus to be carried on or by a person, e.g. of knapsack type
- B05B9/085—Apparatus to be carried on or by a person, e.g. of knapsack type with a liquid pump
- B05B9/0855—Apparatus to be carried on or by a person, e.g. of knapsack type with a liquid pump the pump being motor-driven
- B05B9/0861—Apparatus to be carried on or by a person, e.g. of knapsack type with a liquid pump the pump being motor-driven the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/02—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F3/00—Severing by means other than cutting; Apparatus therefor
- B26F3/004—Severing by means other than cutting; Apparatus therefor by means of a fluid jet
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Auxiliary Devices For Machine Tools (AREA)
Abstract
The present invention provides fluid ejection apparatus (20), and it possesses：The front end of the arm (88) of articulated robot (16) is installed on, and formed with for the manipulator (14) towards tool seat (42) or the tap (90) of instrument (32) discharge cutting fluid；And control device (18), it controls the joint (70,72,74) of articulated robot (16), so that manipulator (14) along the axial direction (Z-direction) of main shaft (30) with making the mobile feed motion of main shaft (30) synchronously mobile along the axial direction (Z-direction) of main shaft (30).
Description
Technical field
The present invention relates to in the processing of workpiece, discharged in lathe to the near tools for the main shaft for being installed on lathe
The fluid ejection apparatus of cutting fluid.
Background technology
In the machining and attrition process carried out using lathe, a kind of general cutting fluid used as working fluid
(coolant).The cutting fluid plays lubrication cutting element, cooling workpiece and removed and cut as caused by machining
The important effects such as bits.The tank for storing cutting fluid is connected with the nozzle (cooling nozzles) of discharge cutting fluid by pipe arrangement, in tank
Stored cutting fluid is flowed using drive mechanisms such as excavationg pumps and in pipe arrangement, and is discharged from nozzle.
In order to discharge cutting fluid, it is necessary to carry out the position adjustment of nozzle towards cutting element.Current commercial nozzle is mostly
Carry out position adjustment manually, the length of each cutting element, cutting element evolution when, it is necessary to adjust the position of nozzle,
Expend the time.
The automatic position for carrying out nozzle is disclosed in No. 4080145 publications of Japanese Patent No. for solving this problem
The technology of adjustment.Simply illustrate, be, during processing, change the angle of nozzle automatically in linkage with procedure, so as to change
Become the discharge object's position of cutting fluid.
The content of the invention
But in above-mentioned No. 4080145 publications of Japanese Patent No., due to changing the angle of nozzle, therefore according to spray
The angle of mouth, nozzle and the distance for discharging object position (should supply the position on the cutting element of cutting fluid) are elongated.Nozzle with
The distance at the discharge object position of cutting fluid becomes longer, is more difficult to the region for determining supply cutting fluid.It is thus impossible to discharge
Cutting fluid is suitably discharged at object position, and lubricant effect, cooling effect and smear removal effect die-off.
Therefore, it is an object of the invention to provide discharge object position that can be to cutting fluid suitably to discharge cutting fluid
Fluid ejection apparatus.
The present invention is a kind of fluid ejection apparatus, and it is from the periphery of the main shaft for the lathe that instrument is provided with via tool seat
Possess towards above-mentioned tool seat or above-mentioned instrument discharge cutting fluid, technique of above liquor ejecting device：It is installed on articulated robot
The front end of arm, and formed with the manipulator of the tap for discharging above-mentioned cutting fluid towards above-mentioned tool seat or above-mentioned instrument；
And control device, it controls the joint of above-mentioned articulated robot, so that above-mentioned manipulator along the axial direction of above-mentioned main shaft with making
The feed motion of above-mentioned main axle moving is synchronously along the axial movement of above-mentioned main shaft.
According to the structure, synchronously make moving direction (axial direction) of the manipulator along main shaft mobile with the feed motion of main shaft,
Therefore it is able to maintain that the relative position relationship of the instrument for being installed on main shaft and tool seat and manipulator.Therefore, even in main shaft
In the case of moving, also can supply cutting fluid to instrument or tool seat, can prevent lubricant effect, cooling effect and
Smear removal effect reduces.Cutting fluid is discharged using the manipulator for the arm for being installed on articulated robot, therefore even if because of instrument
Exchange and the length of instrument situation about being changed, also can easily correspond to.
The present invention is according to technique of above liquor ejecting device, it is preferred that above-mentioned control device controls above-mentioned articulated robot
Above-mentioned joint, so that one side maintains the above-mentioned cutting fluid discharged from above-mentioned tap to be supplied to above-mentioned tool seat or above-mentioned
The state of the predetermined privileged site of instrument, while making axial movement of the above-mentioned manipulator along above-mentioned main shaft.Thus, even if
In the case where synchronously moving moving direction of the manipulator along main shaft with the feed motion of main shaft, also can suitably to
Privileged site supplies cutting fluid, can prevent lubricant effect, cooling effect and smear removal effect from reducing.
The present invention is according to technique of above liquor ejecting device, it is preferred that above-mentioned manipulator is formed as encirclement and is installed on above-mentioned master
The above-mentioned instrument of axle, above-mentioned tap is in above-mentioned manipulator formed with multiple.Thereby, it is possible to from different directions towards instrument or
Tool seat discharges cutting fluid, can prevent lubricant effect, cooling effect and smear removal effect from reducing.
The present invention is according to technique of above liquor ejecting device, it is preferred that multiple above-mentioned taps are with towards predetermined rule
The mode that fixed area of space discharges above-mentioned cutting fluid is formed at above-mentioned manipulator, and above-mentioned control device controls above-mentioned multi-joint machine
The above-mentioned joint of device people, so as to one side remain above-mentioned as defined in area of space and above-mentioned tool seat or above-mentioned instrument predefine
Privileged site overlap state, while making axial movement of the above-mentioned manipulator along above-mentioned main shaft.Thus, even in main shaft
Feed motion synchronously makes in the case that moving direction of the manipulator along main shaft move, also can be from multiple taps to discharge
Object position is privileged site supply cutting fluid.Therefore, it is possible to prevent lubricant effect, cooling effect and smear removal effect
Reduce.
The present invention according to technique of above liquor ejecting device, it is preferably above-mentioned as defined in area of space be with above-mentioned main shaft
The region smaller than above-mentioned privileged site in axially vertical intersecting plane.Thereby, it is possible to be towards discharge object position reliably
Privileged site discharges cutting fluid.
The present invention is according to technique of above liquor ejecting device, it is preferred that above-mentioned manipulator is formed as ring-type, above-mentioned defined empty
Between region be set in the inner side of above-mentioned manipulator.Thus, cutting fluid, therefore energy are supplied to privileged site around privileged site
Enough prevent lubricant effect, cooling effect and smear removal effect from reducing.
According to the present invention, the feed motion of manipulator and main shaft is synchronously mobile along the moving direction (axial direction) of main shaft, because
This is able to maintain that the relative position relationship of the instrument for being installed on main shaft and tool seat and manipulator.Therefore, moved even in main shaft
In the case of having moved, also cutting fluid can be supplied to instrument or tool seat, lubricant effect, cooling effect can be prevented and cut
Considering removal effect to be worth doing reduces.Cutting fluid is discharged using the manipulator for the arm for being installed on articulated robot, therefore even if because of instrument
Exchange and situation that the length of instrument is changed, also can easily correspond to.
Above-mentioned purpose, feature and advantage will be managed easily according to the explanation of implementation below described with reference to the accompanying drawings
Solution.
Brief description of the drawings
Fig. 1 is the structure chart of work system.
Fig. 2 is the figure of the drive system of the main shaft and workbench that illustrate the lathe shown in Fig. 1.
Fig. 3 is the amplification stereogram on the main shaft periphery that manipulator shown in Fig. 1 is provided with instrument.
Fig. 4 is the flow chart for the action for representing the control device shown in Fig. 1.
Fig. 5 A are the figures of one for representing the state in Fig. 4 step S3 positioning mechanical arms, and Fig. 5 B are represented in Fig. 4
The feed motion of step S6 and main shaft synchronously make manipulator along Z-direction move when state the figure of one.
Embodiment
For the fluid ejection apparatus of the present invention, preferred embodiment is disclosed, below, on one side referring to the drawings, on one side in detail
Carefully illustrate.
Fig. 1 is the structure chart of work system 10.Work system 10 possesses：Lathe 12；The multi-joint of manipulator 14 is installed
Robot 16；And the control device 18 of control lathe 12 and articulated robot 16.The manipulator 14, articulated robot 16
And control device 18 forms fluid ejection apparatus 20.
Lathe 12 utilizes 32 pairs of workpieces of instrument (cutting element) (the workpiece, machined object) W for being installed on main shaft 30
It is processed.Lathe 12 possesses：Main shaft 30；Rotation driving is carried out to main shaft 30 centered on the rotary shaft parallel to Z-direction
Main tapping 34；The column 36 for making main tapping 34 be moved in Z-direction (above-below direction)；Fix and workpiece W work is made
Make platform 38；And the Working table driving device 40 for making workbench 38 be moved in X-direction and Y-direction.X-direction, Y-direction, Z-direction
It is orthogonal intersecting.
Instrument 32 is held in tool seat 42, and is installed on main shaft via the tool seat 42 that can be loaded and unloaded in main shaft 30
30.The insertion of tool seat 42 is located at the pilot hole (not shown) of the leading section of main shaft 30, so as to which instrument 32 is installed on main shaft 30.Instrument
32 rotate together with main shaft 30.Lathe 12 is configured to exchange the work for being installed on main shaft 30 using automatic tool exchange apparatus 44
The machining center of tool 32.Automatic tool exchange apparatus 44 has and can store (holding) and be held in the multiple of tool seat 42 respectively
The tool magazine 46 of instrument 32.As instrument 32, such as spring contraction instrument, drill bit, slotting cutter, milling cutter etc. can be enumerated.
Workbench 38 is configured at the lower section of main shaft 30.In the upper surface of workbench 38, defined interval shape is separated along Y-direction
Into there is the locked groove 48 that linearly extends in the X direction.Workpiece W is fixed on via work-piece fixation clamp (not shown)
Workbench 38.Work-piece fixation clamp is configured to be fixed on the upper surface of workbench 38 using locked groove 48.
Workbench 38 is supported by Working table driving device 40.Working table driving device 40 have make workbench 38 in X-direction
The first of upper movement slides portion 50 and makes workbench 38 moves in the Y direction second to slide portion 52.
Fig. 2 is the figure for the drive system for illustrating main shaft 30 and workbench 38.Main tapping 34 has to be rotated to main shaft 30
The main shaft rotating motor 54 of driving.Main shaft rotating motor 54 is installed in main shaft 30 in the instrument 32 of the rotations such as slotting cutter
In the case of, main shaft 30 is rotated, the feelings of main shaft 30 are installed in the fixed instrument 32 similar to spring contraction instrument
Under condition, for controlling the phase (rotation position) of main shaft 30.It is provided with main shaft rotating motor 54 and is used to detect main shaft rotation use
The encoder 55 of the rotation position of motor 54.
Column 36 has the axis feeding mechanism 56 and driving as the elevating mechanism for making main tapping 34 be moved along Z-direction
The axis feeding of axis feeding mechanism 56 motor 58.It is provided with axis feeding motor 58 and is used to detect axis feeding motor
The encoder 59 of 58 rotation position.
The first of Working table driving device 40, which slides portion 50, has the X-axis feeding machine for making workbench 38 move in the X direction
Motor 62 is used in the X-axis feeding of structure 60 and driving X-axis feed mechanism 60.It is provided with to enter for detecting X-axis in X-axis feeding motor 62
Encoder 63 to the rotation position with motor 62.
The second of Working table driving device 40, which slides portion 52 and had, to be made first to slide portion 50 (workbench 38) to move up in the Y direction
Motor 66 is used in the Y-axis feeding of dynamic Y-axis feed mechanism 64 and driving Y-axis feed mechanism 64.It is provided with Y-axis feeding motor 66
For the encoder 67 for the rotation position for detecting Y-axis feeding motor 66.
Working table driving device 40 is so formed, so as to make workbench 38 be moved in X-direction and Y-direction.Pass through
Movement and movement from main shaft 30 to Z-direction of the workbench 38 to X-direction and Y-direction, can be to workpiece W dimensionally
Implement processing.In addition, main shaft rotating motor 54, axis feeding motor 58, X-axis feeding are used with motor 62 and Y-axis feeding
Motor 66 rotates (driving) according to the control of control device 18.
Fig. 1 explanation is returned to, articulated robot 16 has the axial direction of the rotary shaft pass of more than three parallel to each other
Section.The articulated robot 16 of present embodiment at least has three joints (the first joint~the 3rd joint) 70,72,74.Close
The axial direction of the rotary shaft of section 70,72,74 is parallel with Y-direction.Articulated robot 16 possesses：Pedestal 80 as erecting bed；Through
The first connecting rod portion 82 of pedestal 80 is installed on by joint (the first joint) 70；Is installed on via joint (second joint) 72
The second connecting rod portion 84 of one link rod part 82；And the 3rd of second connecting rod portion 84 is installed on via joint (the 3rd joint) 74 and is connected
Bar portion 86.
First connecting rod portion 82 by the first joint 70 can centered on axle (rotary shaft) J1 parallel with Y-direction relative to
Pedestal 80 rotates.Second connecting rod portion 84 can be centered on axle (rotary shaft) J2 parallel with axle J1 relatively by second joint 72
Rotated in first connecting rod portion 82.Third connecting rod portion 86 by the 3rd joint 74 can using axle (rotary shaft) J3 parallel with axle J2 as
Center rotates relative to second connecting rod portion 84.The joint 74 of first joint 70~the 3rd and 82~third connecting rod portion of first connecting rod portion
86 form arm (multi-joint arm) 88.Axle J1~J3 and main shaft 30 axial direction (Z-direction) intersect, it is generally desirable to intersect vertically.
It is provided with the first joint 70 and is used to make first connecting rod portion 82 use around the first joint that axle J1 rotates relative to pedestal 80
Motor 70a.Similarly, it is provided with second joint 72 and is used to make second connecting rod portion 84 rotate around axle J2 relative to first connecting rod portion 82
Second joint motor 72a, the 3rd joint 74 be provided be used for make third connecting rod portion 86 relative to second connecting rod portion 84 around axle
3rd joint motor 74a of J3 rotations.
Be provided with the first joint with the joint motor 74a of motor 70a~the 3rd be used to detecting the first joint motor 70a~
The encoder 71,73,75 of 3rd joint motor 74a rotation position.In addition, the first joint joint of motor 70a~the 3rd
Rotated (driving) according to the control of control device 18 with motor 74a.
Manipulator 14 is installed in the leading section of the front end of arm 88, namely third connecting rod portion 86.As shown in figure 3, in machine
Tool hand 14 is formed with the tap 90 that cutting fluid (working fluid) is discharged towards the instrument 32 or tool seat 42 for being installed on main shaft 30.Machine
Tool hand 14 is formed as surrounding the instrument 32 for being installed on main shaft 30, and tap 90 is in manipulator 14 formed with multiple.In order that come from
The cutting fluid of each of multiple taps 90 is discharged towards instrument 32 or tool seat 42, positioning mechanical arm 14.Although not shown, but
It is that tap 90 is connected with the tank of storage cutting fluid by pipe arrangement, by pump etc., the cutting fluid for being stored in tank flows in pipe arrangement, and
Cutting fluid is discharged from tap 90.
Multiple taps 90 are formed at machinery in a manner of towards predetermined defined area of space discharge working fluid
Hand 14.Moreover, with defined area of space and instrument 32 or the predetermined privileged site of tool seat 42 (discharge object portion
Position) overlap mode positioning mechanical arm 14.Thus, the working fluid from multiple taps 90 is supplied to instrument 32 or tool seat 42
Pre-determined privileged site.In addition, privileged site refer in instrument 32 or tool seat 42 should contact cutting fluid (should
Supply) discharge object position.
In the present embodiment, manipulator 14 is formed as ring-type, and multiple taps 90 are formed at the machinery for being formed as ring-type
The side opposed with instrument 32 or tool seat 42 of the inner side of hand 14, namely manipulator 14.In addition, multiple taps 90 are formed
To surround instrument 32 or tool seat 42 along the inner side for the manipulator 14 for being formed as ring-type.Multiple taps 90 are towards located at formation
Defined area of space for the inner side of the manipulator 14 of ring-type discharges cutting fluid.Ring-type is except including O word shapes (ring-shaped)
Outside, the C word shapes of a part, U-shaped etc. have been cut off in addition to.It is, ring-type is in rounded shape including part bending
Shape.
In addition, defined area of space can also be in phase vertical with the axial direction of main shaft 30 (direction parallel with Z-direction)
The region smaller than privileged site (instrument 32 or tool seat 42) in the plane (X/Y plane) of friendship.Thus, as defined in privileged site ratio
Area of space is big, therefore the particular portion of instrument 32 or tool seat 42 is all supplied to from the cutting fluid of multiple taps 90 discharge
Position.Intersected vertically alternatively, it is also possible to the diameter of defined area of space with the axial direction of main shaft 30 (direction parallel with Z-direction)
Plane (X/Y plane) on it is smaller than the diameter of privileged site (instrument 32 or tool seat 42).Manipulator 14 is via located at manipulator 14
Base end part 15 and be installed on the leading section (reference picture 1, Fig. 3) in third connecting rod portion 86.
Using as the center on the X/Y plane of the defined area of space of the discharge subject area as assigned position.
The assigned position can also be created as the approximate centre position of the manipulator 14 of ring-type.Make the assigned position (for example, manipulator
14 approximate centre position) in the axial direction of main shaft 30 (instrument 32), so as to the defined space as discharge subject area
Region overlaps with the predetermined privileged site of instrument 32 or tool seat 42.
Face 14a formed with multiple taps 90 can also be so that the cutting fluid from tap 90 be expelled to downward
The mode of instrument 32 or tool seat 42 tilts.Thus, it is specified that area of space be located at than the side on the lower of manipulator 14.
Control device 18 has the processors such as CPU and is stored with the storage medium of base program, the basic journey of computing device
Sequence, so as to play function as the control device 18 of present embodiment.In addition, although not shown, but control device 18 has use
The input unit of information and instruction etc. is inputted in confession operating personnel and required display part of information etc. is shown to operating personnel.
Control device 18 parses the procedure for being stored in above-mentioned storage medium, and based on the analysis result, main shaft is rotated
With motor 54, axis feeding feedback control is carried out with motor 58, X-axis feeding with motor 66 with motor 62 and Y-axis feeding.This
Outside, the rotation position that encoder 55,59,63,67 detects is used for main shaft rotating motor 54, axis feeding motor 58, X-axis
The feedback control of feeding motor 62 and Y-axis feeding motor 66.
In addition, control device 18 carries out feedback control to the first joint with the joint of motor 70a~the 3rd with motor 74a, with
Just it is synchronous with the feed motion of main shaft 30 when main shaft 30 is carried out axle feeding by drive shaft feeding in z-direction with motor 58
Ground makes axial movement of the manipulator 14 along main shaft 30.It is, control device 18 is to maintain main shaft 30 relative with manipulator 14
The mode of position relationship manipulator 14 is moved along Z-direction with the feed motion of main shaft 30.In addition, encoder 71,
73rd, 75 rotation positions detected are used for the joint motor 74a of the first joint motor 70a~the 3rd feedback control.
Next, the flow chart according to Fig. 4, the action to control device 18 illustrates.In step S1, control dress
Put whether 18 start synchronous mode according to the operation judges of the above-mentioned input unit of operating personnel.If it is judged as not opening in step S1
Dynamic synchronous mode, then this release.
If being judged as starting synchronous mode in step S1, into step S2, the Z side of the drive shaft 30 of control device 18
To position and be installed on main shaft 30 instrument 32 length (length of Z-direction).
Control device 18 can obtain the position of the Z-direction of main shaft 30 based on the rotation position that encoder 59 detects,
The position of the Z-direction of main shaft 30 can be obtained from the position sensor (not shown) of the position of the Z-direction of detection main shaft 30.Control
Device 18 (can be installed on the work of main shaft 30 according to the instrument 32 that operating personnel are inputted by the operation of above-mentioned input unit is represented
The information of the species of tool 32) obtains the length of instrument 32.In addition, control device 18 can also directly obtain operating personnel pass through it is upper
State the operation of input unit defeated instrument 32 (instrument 32 for being installed on main shaft 30) such as length.
Then, in step S3, the position of main shaft 30 of the control device 18 according to acquired by step S2 and the length of instrument 32
Degree, positioning mechanical arm 14.Specifically, control device 18 refers to according to the position of the main shaft 30 obtained and the length of instrument 32
The privileged site of the fixed instrument 32 or tool seat 42 for turning into discharge object position.Then, control device 18 controls the first joint 70
~the three joint 74, to be formed from the discharge subject area for the cutting fluid that multiple taps 90 of manipulator 14 are determined i.e.
Defined area of space, overlap with the privileged site of instrument 32 or tool seat 42.Now, the regulation of preferably defined area of space
Position (center of the defined area of space on X/Y plane) is located in the axial direction of main shaft 30.
Thus, multiple taps 90 can be towards instrument 32 or the privileged site of tool seat 42 discharge cutting fluid.Fig. 5 A are
Represent the figure of one of the state in step S3 positioning mechanical arms 14.In addition, the control in the joint 74 of the first joint the 70~the 3rd
Specifically refer to the joint motor 74a of the first joint motor 70a~the 3rd feedback control.
Then, in step S4, control device 18 starts to perform procedure.It is, the parsing processing journey of control device 18
Sequence, the driving of workbench 38 and main shaft 30 is controlled based on the analysis result.Thus, the processing to workpiece W is started.When holding
During row procedure, according to procedure, workbench 38 moves in X-direction, Y-direction, and main shaft 30 (instrument 32) is in z-direction
It is mobile.Now, control device 18 controls said pump, and cutting fluid is discharged so as to start tap 90.Thereby, it is possible to instrument 32 or
The privileged site supply cutting fluid of tool seat 42.
Then, whether it is main shaft 30 based on the action that procedure judges to carry out in step S5, control device 18
Feed motion.If being the feed motion of main shaft 30 in the action that step S5 is judged as carrying out, the control of control device 18 the
The joint 74 of one joint the 70~the 3rd, so that the feed motion with main shaft 30 synchronously makes axial direction (Z side of the manipulator 14 along main shaft 30
To) mobile (step S6), into step S7.
The control such as the final position of feed motion of the control device 18 based on the main shaft 30 determined by procedure, speed the
The joint 74 of one joint the 70~the 3rd, so that the feed motion of manipulator 14 and main shaft 30 synchronously moves in z-direction.Fig. 5 B are
Represent the figure of one of the state when step S6 and main shaft 30 feed motion synchronously make manipulator 14 be moved along Z-direction.
It can be seen from Fig. 5 A, Fig. 5 B, in the case that main shaft 30 has carried out axle feed motion in z-direction, (the instrument of main shaft 30
32nd, tool seat 42) also do not change with the relative position relationship of manipulator 14 (tap 90).
In addition, control device 18 synchronously makes the situation that manipulator 14 moves along Z-direction with the feed motion of main shaft 30
Under, while maintain the discharge subject area of cutting fluid that is determined by tap 90 i.e. as defined in area of space and instrument 32 or
The state that the privileged site of tool seat 42 overlaps, while making manipulator 14 be moved along Z-direction.Therefore, even in main shaft 30 in Z side
In the case of having moved up, multiple taps 90 can also continue supply cutting to the privileged site of instrument 32 or tool seat 42
Liquid.At this time it is also possible to assigned position (the centre bit of the defined area of space on X/Y plane with area of space as defined in maintenance
Put) mode of state and the feed motion of main shaft 30 in the axial direction of main shaft 30 synchronously make manipulator 14 in z-direction
It is mobile.
On the other hand, if not being the feed motion of main shaft 30 in the step S5 actions for being judged as carrying out, directly enter
Enter step S7.
When entering step S7, control device 18 judges whether the execution of procedure terminates.If all perform processing
Program record code, then control device 18 be judged as that the execution of procedure terminates.If it is judged as procedure in step S7
Execution do not terminate, then return to step S5, is repeated above-mentioned action.On the other hand, if being judged as processing journey in step S7
The execution of sequence terminates, then terminates this action.With the end of this action, control device 18 controls said pump, so as to terminate from row
Portal 90 discharge cutting fluids.
As described above, the fluid ejection apparatus 20 of present embodiment is provided with the lathe of instrument 32 from via tool seat 42
Cutting fluid is discharged towards tool seat 42 or instrument 32 in the periphery of 12 main shaft 30.Fluid ejection apparatus 20 possesses：It is installed on more passes
Save the front end of the arm 88 of robot 16 and formed with the tap 90 for discharging cutting fluid towards tool seat 42 or instrument 32
Manipulator 14；And control device 18, it controls the joint 70,72,74 of articulated robot 16, so as to manipulator 14 with along master
The feed motion that the axial direction (Z-direction) of axle 30 moves main shaft 30 is synchronously mobile along the axial direction (Z-direction) of main shaft 30.
As described above, synchronously make moving direction (Z-direction) of the manipulator 14 along main shaft 30 with the feed motion of main shaft 30
It is mobile, therefore it is able to maintain that the instrument 32 for being installed on main shaft 30 and tool seat 42 and the relative position relationship of manipulator 14.Cause
This, in the case that main shaft 30 moves, also can supply cutting fluid to instrument 32 or tool seat 42, can prevent from lubricating
Effect, cooling effect and smear removal effect reduce.As a result, cutting power, high-speed cutting can be played to greatest extent
Or the processing of heavy cut is also stablized.
In addition, cutting power can be played to greatest extent, therefore process time can be shortened, the platform of lathe can be reduced
Number.Cutting fluid, therefore even if exchange because of instrument 32 are discharged using the manipulator 14 for the arm 88 for being installed on articulated robot 16
And the situation that the length of instrument 32 is changed, also can easily it correspond to.
Manipulator 14 is formed as surrounding the instrument 32 for being installed on main shaft 30, in manipulator 14 formed with multiple taps 90.
Therefore, because multiple taps 90 are provided with, therefore can be from different directions towards instrument 32 or the discharge cutting of tool seat 42
Liquid.Therefore, it is possible to prevent lubricant effect, cooling effect and smear removal effect from reducing.
Multiple taps 90 are formed at machinery in a manner of towards predetermined defined area of space discharge working fluid
Hand 14.Control device 18 control articulated robot 16 joint 70,72,74, so as to one side maintain as defined in area of space with
The state that the predetermined privileged site of tool seat 42 or instrument 32 overlaps, while making manipulator 14 be moved along the axial direction of main shaft 30
It is dynamic.Thus, even in synchronously making moving direction (Z-direction) of the manipulator 14 along main shaft 30 mobile with the feed motion of main shaft 30
In the case of, also can be privileged site supply cutting fluid from multiple taps 90 to discharge object position.Therefore, it is possible to anti-
Only lubricant effect, cooling effect and smear removal effect reduce.
Defined area of space is smaller than privileged site in the axially vertical plane (X/Y plane) intersected with main shaft 30
Region.Thereby, it is possible to discharge object position be reliably privileged site supply cutting fluid.
Manipulator 14 be formed as ring-type, it is specified that area of space be set in the inner side of manipulator 14.Thus, from privileged site
Around to privileged site supply cutting fluid, therefore can prevent lubricant effect, cooling effect and smear removal effect drop
It is low.
In addition, in the above-described embodiment, main shaft 30 is configured to only move in the axial direction of main shaft 30 (Z-direction), still
Main shaft 30 can also be made to be moved in X-direction, Y-direction.In this case, can be with so that manipulator 14 can follow the XY of main shaft 30
The mode of movement in plane forms articulated robot 16.For example, can be with so that arm 88 can be put down relative to pedestal 80 in XY
On face articulated robot 16 is formed in a manner of convolution (arm 88 can be rotated centered on the rotary shaft parallel with Z-direction).Tool
For body, articulated robot 16 can be formed as follows：Pedestal 80 has first component 80a and the+Z located at first component 80a
The second component 80b (reference picture 1) of direction side, second be connected via the first joint 70 with arm 88 (first connecting rod portion 82)
Part 80b is rotated relative to first component 80a centered on the axle J4 parallel with Z-direction.Alternatively, it is also possible to form more passes as follows
Save robot 16：Arm 88 can move relative to pedestal 80 in X-direction, Y-direction.
In addition, lathe 12 and articulated robot 16 are controlled by a control device 18, but lathe can also be set to use
Control device and articulated robot control device, two control devices altogether.In this case, it is necessary to make manipulator 14
Synchronously moved in z-direction with movement of the main shaft 30 in Z-direction, therefore the control device of lathe and articulated robot are used
Control device become and can communicate.The control device of lathe make main shaft 30 in z-direction move in the case of,
The information such as final position and the translational speed of feed motion are sent to the control device of articulated robot, and (feed motion is believed
Breath), the control device of articulated robot, which is based on feed motion information, moves manipulator 14.
(preferably hung down in addition, being intersected with the axial direction (Z-direction) of the rotary shaft J1~J3 in joint 70,72,74 and main shaft 30
It is straight intersecting) mode form articulated robot 16, but the rotary shaft J1~J3 in joint 70,72,74 can also be with main shaft 30
Axial direction (Z-direction) it is parallel.In a word, as long as can synchronously make manipulator 14 exist with the direction of feed (Z-direction) of main shaft 30
The articulated robot 16 moved in the direction of feed of main shaft 30.
Claims (6)
1. a kind of fluid ejection apparatus (20), it is provided with the main shaft of the lathe (12) of instrument (32) from via tool seat (42)
(30) cutting fluid is discharged in periphery towards above-mentioned tool seat (42) or above-mentioned instrument (32),
Technique of above liquor ejecting device (20) is characterised by possessing：
It is installed on the front end of the arm (88) of articulated robot (16), and formed with for towards above-mentioned tool seat (42) or above-mentioned
Instrument (32) discharges the manipulator (14) of the tap (90) of above-mentioned cutting fluid；And
Control device (18), it controls the joint (70,72,74) of above-mentioned articulated robot (16), so as to above-mentioned manipulator
(14) with making the mobile feed motion of above-mentioned main shaft (30) synchronously along above-mentioned main shaft (30) along the axial direction of above-mentioned main shaft (30)
Axial movement.
2. fluid ejection apparatus (20) according to claim 1, it is characterised in that
Above-mentioned control device (18) controls the above-mentioned joint (70,72,74) of above-mentioned articulated robot (16), so that one side maintains
The above-mentioned cutting fluid discharged from above-mentioned tap (90) is supplied to the advance of above-mentioned tool seat (42) or above-mentioned instrument (32)
The state of the privileged site of determination, while making axial movement of the above-mentioned manipulator (14) along above-mentioned main shaft (30).
3. fluid ejection apparatus (20) according to claim 1 or 2, it is characterised in that
Above-mentioned manipulator (14) is formed as the above-mentioned instrument (32) that encirclement is installed on above-mentioned main shaft (30),
Above-mentioned tap (90) is in above-mentioned manipulator (14) formed with multiple.
4. fluid ejection apparatus (20) according to claim 3, it is characterised in that
Multiple above-mentioned taps (90) are formed in a manner of discharging above-mentioned cutting fluid towards predetermined defined area of space
In above-mentioned manipulator (14),
Above-mentioned control device (18) controls the above-mentioned joint (70,72,74) of above-mentioned articulated robot (16), so that one side maintains
The shape that area of space as defined in above-mentioned overlaps with the predetermined privileged site of above-mentioned tool seat (42) or above-mentioned instrument (32)
State, while making axial movement of the above-mentioned manipulator (14) along above-mentioned main shaft (30).
5. fluid ejection apparatus (20) according to claim 4, it is characterised in that
Area of space as defined in above-mentioned is than above-mentioned privileged site in the axially vertical plane intersected with above-mentioned main shaft (30)
Small region.
6. the fluid ejection apparatus (20) according to claim 4 or 5, it is characterised in that
Above-mentioned manipulator (14) is formed as ring-type,
Area of space as defined in above-mentioned is set in the inner side of above-mentioned manipulator (14).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016168218A JP2018034232A (en) | 2016-08-30 | 2016-08-30 | Fluid injection device |
| JP2016-168218 | 2016-08-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107791094A true CN107791094A (en) | 2018-03-13 |
Family
ID=61166546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710749661.8A Withdrawn CN107791094A (en) | 2016-08-30 | 2017-08-28 | Fluid ejection apparatus |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20180056465A1 (en) |
| JP (1) | JP2018034232A (en) |
| CN (1) | CN107791094A (en) |
| DE (1) | DE102017008151A1 (en) |
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| CN114484244A (en) * | 2022-02-15 | 2022-05-13 | 邢志强 | Numerical control lubricating oil spraying device capable of automatically controlling flow |
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| MY195899A (en) | 2017-03-30 | 2023-02-27 | Mitsuboshi Belting Ltd | Pulley Structure and Method for Manufacturing Pulley Structure |
| WO2018237386A1 (en) * | 2017-06-23 | 2018-12-27 | Research & Technology Solutions, Llc | Apparatus and method to extend cutting tool life |
| JP6603288B2 (en) * | 2017-10-25 | 2019-11-06 | ファナック株式会社 | Cutting fluid supply device for machine tools |
| JP7262201B2 (en) | 2018-10-15 | 2023-04-21 | オークマ株式会社 | Coolant supply device |
| CN109648396A (en) * | 2019-01-18 | 2019-04-19 | 四川大学 | External-cooling type micro lubricating manipulator, lathe and lubricating method |
| JP7606902B2 (en) | 2021-03-25 | 2024-12-26 | 株式会社北川鉄工所 | Workpiece machining device, workpiece machining system, and workpiece machining method |
| US12240080B2 (en) * | 2021-07-12 | 2025-03-04 | Aurora Flight Sciences Corporation | Waterjet cutting apparatus and related methods |
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Also Published As
| Publication number | Publication date |
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| US20180056465A1 (en) | 2018-03-01 |
| JP2018034232A (en) | 2018-03-08 |
| DE102017008151A1 (en) | 2018-03-01 |
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Application publication date: 20180313 |